This laboratory module aims to foster best practice in experimental work, while supporting the lecture modules and giving practical exposure to real control systems. The Lab will focus on analysis, modelling and the evaluation of an inverted pendulum.

By the end of this Laboratory you will be able to: Derive mathematical models of mechanical systems by using first principles Assess the quality of models by comparing experiments and simulations Design controllers for nonlinear systems based on linearised models Apply optimal control for the stabilization of an inverted pendulum Compare different synthesis techniques in relation to their effectiveness in controlling a pendulum hardware Use of dedicated software for real-time control of nonlinear systems

Modelling of an inverted pendulum using Euler Lagrange Equations. Verification of the validity of the model using simulation and experiments. Linearisation of nonlinear models around different equilibrium positions. Design of linear quadratic regulators and comparison with pole-placements design. Swing-up feedback controller for inverted pendulum.